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/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT master methods.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#include <linux/module.h>

    38

#include <linux/kernel.h>

    39

#include <linux/string.h>

    40

#include <linux/slab.h>

    41

#include <linux/delay.h>

    42

#include <linux/device.h>

    43

#include <linux/version.h>

    44

    45

#include "globals.h"

    46

#include "slave.h"

    47

#include "slave_config.h"

    48

#include "device.h"

    49

#include "datagram.h"

    50

#ifdef EC_EOE

    51

#include "ethernet.h"

    52

#endif

    53

#include "master.h"

    54

    55

/*****************************************************************************/

    56

    57

#ifdef EC_HAVE_CYCLES

    58

    59

/** Frame timeout in cycles.

    60

 */

    61

static cycles_t timeout_cycles;

    62

    63

#else

    64

    65

/** Frame timeout in jiffies.

    66

 */

    67

static unsigned long timeout_jiffies;

    68

    69

#endif

    70

    71

/*****************************************************************************/

    72

    73

void ec_master_clear_slave_configs(ec_master_t *);

    74

void ec_master_clear_domains(ec_master_t *);

    75

static int ec_master_idle_thread(void *);

    76

static int ec_master_operation_thread(void *);

    77

#ifdef EC_EOE

    78

static int ec_master_eoe_thread(void *);

    79

#endif

    80

void ec_master_find_dc_ref_clock(ec_master_t *);

    81

    82

/*****************************************************************************/

    83

    84

/** Static variables initializer.

    85

*/

    86

void ec_master_init_static(void)

    87

{

    88

#ifdef EC_HAVE_CYCLES

    89

    timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);

    90

#else

    91

    // one jiffy may always elapse between time measurement

    92

    timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);

    93

#endif

    94

}

    95

    96

/*****************************************************************************/

    97

    98

/**

    99

   Master constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

int ec_master_init(ec_master_t *master, /**< EtherCAT master */

   104

        unsigned int index, /**< master index */

   105

        const uint8_t *main_mac, /**< MAC address of main device */

   106

        const uint8_t *backup_mac, /**< MAC address of backup device */

   107

        dev_t device_number, /**< Character device number. */

   108

        struct class *class, /**< Device class. */

   109

        unsigned int debug_level /**< Debug level (module parameter). */

   110

        )

   111

{

   112

    int ret;

   113

   114

    master->index = index;

   115

    master->reserved = 0;

   116

   117

    sema_init(&master->master_sem, 1);

   118

   119

    master->main_mac = main_mac;

   120

    master->backup_mac = backup_mac;

   121

   122

    sema_init(&master->device_sem, 1);

   123

   124

    master->phase = EC_ORPHANED;

   125

    master->active = 0;

   126

    master->injection_seq_fsm = 0;

   127

    master->injection_seq_rt = 0;

   128

   129

    master->slaves = NULL;

   130

    master->slave_count = 0;

   131

   132

    INIT_LIST_HEAD(&master->configs);

   133

   134

    master->app_time = 0ULL;

   135

    master->app_start_time = 0ULL;

   136

    master->has_start_time = 0;

   137

   138

    master->scan_busy = 0;

   139

    master->allow_scan = 1;

   140

    sema_init(&master->scan_sem, 1);

   141

    init_waitqueue_head(&master->scan_queue);

   142

   143

    master->config_busy = 0;

   144

    master->allow_config = 1;

   145

    sema_init(&master->config_sem, 1);

   146

    init_waitqueue_head(&master->config_queue);

   147

   148

    INIT_LIST_HEAD(&master->datagram_queue);

   149

    master->datagram_index = 0;

   150

   151

    INIT_LIST_HEAD(&master->ext_datagram_queue);

   152

    sema_init(&master->ext_queue_sem, 1);

   153

   154

    INIT_LIST_HEAD(&master->domains);

   155

   156

    master->debug_level = debug_level;

   157

    master->stats.timeouts = 0;

   158

    master->stats.corrupted = 0;

   159

    master->stats.unmatched = 0;

   160

    master->stats.output_jiffies = 0;

   161

    master->frames_timed_out = 0;

   162

   163

    master->thread = NULL;

   164

   165

#ifdef EC_EOE

   166

    master->eoe_thread = NULL;

   167

    INIT_LIST_HEAD(&master->eoe_handlers);

   168

#endif

   169

   170

    sema_init(&master->io_sem, 1);

   171

    master->send_cb = NULL;

   172

    master->receive_cb = NULL;

   173

    master->cb_data = NULL;

   174

    master->app_send_cb = NULL;

   175

    master->app_receive_cb = NULL;

   176

    master->app_cb_data = NULL;

   177

   178

    INIT_LIST_HEAD(&master->sii_requests);

   179

    init_waitqueue_head(&master->sii_queue);

   180

   181

    INIT_LIST_HEAD(&master->slave_sdo_requests);

   182

    init_waitqueue_head(&master->sdo_queue);

   183

   184

    INIT_LIST_HEAD(&master->reg_requests);

   185

    init_waitqueue_head(&master->reg_queue);

   186

   187

    INIT_LIST_HEAD(&master->foe_requests);

   188

    init_waitqueue_head(&master->foe_queue);

   189

   190

    // init devices

   191

    ret = ec_device_init(&master->main_device, master);

   192

    if (ret < 0)

   193

        goto out_return;

   194

   195

    ret = ec_device_init(&master->backup_device, master);

   196

    if (ret < 0)

   197

        goto out_clear_main;

   198

   199

    // init state machine datagram

   200

    ec_datagram_init(&master->fsm_datagram);

   201

    snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");

   202

    ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);

   203

    if (ret < 0) {

   204

        ec_datagram_clear(&master->fsm_datagram);

   205

        EC_ERR("Failed to allocate FSM datagram.\n");

   206

        goto out_clear_backup;

   207

    }

   208

   209

    // create state machine object

   210

    ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);

   211

   212

    // init reference sync datagram

   213

    ec_datagram_init(&master->ref_sync_datagram);

   214

    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");

   215

    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);

   216

    if (ret < 0) {

   217

        ec_datagram_clear(&master->ref_sync_datagram);

   218

        EC_ERR("Failed to allocate reference synchronisation datagram.\n");

   219

        goto out_clear_fsm;

   220

    }

   221

   222

    // init sync datagram

   223

    ec_datagram_init(&master->sync_datagram);

   224

    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");

   225

    ret = ec_datagram_prealloc(&master->sync_datagram, 4);

   226

    if (ret < 0) {

   227

        ec_datagram_clear(&master->sync_datagram);

   228

        EC_ERR("Failed to allocate synchronisation datagram.\n");

   229

        goto out_clear_ref_sync;

   230

    }

   231

   232

    // init sync monitor datagram

   233

    ec_datagram_init(&master->sync_mon_datagram);

   234

    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");

   235

    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);

   236

    if (ret < 0) {

   237

        ec_datagram_clear(&master->sync_mon_datagram);

   238

        EC_ERR("Failed to allocate sync monitoring datagram.\n");

   239

        goto out_clear_sync;

   240

    }

   241

   242

    ec_master_find_dc_ref_clock(master);

   243

   244

    // init character device

   245

    ret = ec_cdev_init(&master->cdev, master, device_number);

   246

    if (ret)

   247

        goto out_clear_sync_mon;

   248

   249

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)

   250

    master->class_device = device_create(class, NULL,

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            MKDEV(MAJOR(device_number), master->index), NULL,

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            "EtherCAT%u", master->index);

   253

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   254

    master->class_device = device_create(class, NULL,

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            MKDEV(MAJOR(device_number), master->index),

   256

            "EtherCAT%u", master->index);

   257

#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)

   258

    master->class_device = class_device_create(class, NULL,

   259

            MKDEV(MAJOR(device_number), master->index), NULL,

   260

            "EtherCAT%u", master->index);

   261

#else

   262

    master->class_device = class_device_create(class,

   263

            MKDEV(MAJOR(device_number), master->index), NULL,

   264

            "EtherCAT%u", master->index);

   265

#endif

   266

    if (IS_ERR(master->class_device)) {

   267

        EC_ERR("Failed to create class device!\n");

   268

        ret = PTR_ERR(master->class_device);

   269

        goto out_clear_cdev;

   270

    }

   271

   272

    return 0;

   273

   274

out_clear_cdev:

   275

    ec_cdev_clear(&master->cdev);

   276

out_clear_sync_mon:

   277

    ec_datagram_clear(&master->sync_mon_datagram);

   278

out_clear_sync:

   279

    ec_datagram_clear(&master->sync_datagram);

   280

out_clear_ref_sync:

   281

    ec_datagram_clear(&master->ref_sync_datagram);

   282

out_clear_fsm:

   283

    ec_fsm_master_clear(&master->fsm);

   284

    ec_datagram_clear(&master->fsm_datagram);

   285

out_clear_backup:

   286

    ec_device_clear(&master->backup_device);

   287

out_clear_main:

   288

    ec_device_clear(&master->main_device);

   289

out_return:

   290

    return ret;

   291

}

   292

   293

/*****************************************************************************/

   294

   295

/** Destructor.

   296

*/

   297

void ec_master_clear(

   298

        ec_master_t *master /**< EtherCAT master */

   299

        )

   300

{

   301

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)

   302

    device_unregister(master->class_device);

   303

#else

   304

    class_device_unregister(master->class_device);

   305

#endif

   306

   307

    ec_cdev_clear(&master->cdev);

   308

   309

#ifdef EC_EOE

   310

    ec_master_clear_eoe_handlers(master);

   311

#endif

   312

    ec_master_clear_domains(master);

   313

    ec_master_clear_slave_configs(master);

   314

    ec_master_clear_slaves(master);

   315

   316

    ec_datagram_clear(&master->sync_mon_datagram);

   317

    ec_datagram_clear(&master->sync_datagram);

   318

    ec_datagram_clear(&master->ref_sync_datagram);

   319

    ec_fsm_master_clear(&master->fsm);

   320

    ec_datagram_clear(&master->fsm_datagram);

   321

    ec_device_clear(&master->backup_device);

   322

    ec_device_clear(&master->main_device);

   323

}

   324

   325

/*****************************************************************************/

   326

   327

#ifdef EC_EOE

   328

/** Clear and free all EoE handlers.

   329

 */

   330

void ec_master_clear_eoe_handlers(

   331

        ec_master_t *master /**< EtherCAT master */

   332

        )

   333

{

   334

    ec_eoe_t *eoe, *next;

   335

   336

    list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {

   337

        list_del(&eoe->list);

   338

        ec_eoe_clear(eoe);

   339

        kfree(eoe);

   340

    }

   341

}

   342

#endif

   343

   344

/*****************************************************************************/

   345

   346

/** Clear all slave configurations.

   347

 */

   348

void ec_master_clear_slave_configs(ec_master_t *master)

   349

{

   350

    ec_slave_config_t *sc, *next;

   351

   352

    list_for_each_entry_safe(sc, next, &master->configs, list) {

   353

        list_del(&sc->list);

   354

        ec_slave_config_clear(sc);

   355

        kfree(sc);

   356

    }

   357

}

   358

   359

/*****************************************************************************/

   360

   361

/** Clear all slaves.

   362

 */

   363

void ec_master_clear_slaves(ec_master_t *master)

   364

{

   365

    ec_slave_t *slave;

   366

   367

    master->dc_ref_clock = NULL;

   368

   369

    // external requests are obsolete, so we wake pending waiters and remove

   370

    // them from the list

   371

    //

   372

	// SII requests

   373

	while (1) {

   374

		ec_sii_write_request_t *request;

   375

		if (list_empty(&master->sii_requests))

   376

			break;

   377

		// get first request

   378

        request = list_entry(master->sii_requests.next,

   379

                ec_sii_write_request_t, list);

   380

		list_del_init(&request->list); // dequeue

   381

		EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",

   382

				request->slave->ring_position);

   383

		request->state = EC_INT_REQUEST_FAILURE;

   384

		wake_up(&master->sii_queue);

   385

	}

   386

   387

	// Register requests

   388

	while (1) {

   389

	    ec_reg_request_t *request;

   390

		if (list_empty(&master->reg_requests))

   391

			break;

   392

		// get first request

   393

		request = list_entry(master->reg_requests.next,

   394

				ec_reg_request_t, list);

   395

		list_del_init(&request->list); // dequeue

   396

		EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",

   397

				request->slave->ring_position);

   398

		request->state = EC_INT_REQUEST_FAILURE;

   399

		wake_up(&master->reg_queue);

   400

	}

   401

   402

	// SDO requests

   403

	while (1) {

   404

		ec_master_sdo_request_t *request;

   405

		if (list_empty(&master->slave_sdo_requests))

   406

			break;

   407

		// get first request

   408

		request = list_entry(master->slave_sdo_requests.next,

   409

				ec_master_sdo_request_t, list);

   410

		list_del_init(&request->list); // dequeue

   411

		EC_INFO("Discarding SDO request, slave %u does not exist anymore.\n",

   412

				request->slave->ring_position);

   413

		request->req.state = EC_INT_REQUEST_FAILURE;

   414

		wake_up(&master->sdo_queue);

   415

	}

   416

   417

	// FoE requests

   418

	while (1) {

   419

		ec_master_foe_request_t *request;

   420

		if (list_empty(&master->foe_requests))

   421

			break;

   422

		// get first request

   423

		request = list_entry(master->foe_requests.next,

   424

				ec_master_foe_request_t, list);

   425

		list_del_init(&request->list); // dequeue

   426

		EC_INFO("Discarding FOE request, slave %u does not exist anymore.\n",

   427

				request->slave->ring_position);

   428

		request->req.state = EC_INT_REQUEST_FAILURE;

   429

		wake_up(&master->foe_queue);

   430

	}

   431

   432

    for (slave = master->slaves;

   433

            slave < master->slaves + master->slave_count;

   434

            slave++) {

   435

        ec_slave_clear(slave);

   436

    }

   437

   438

    if (master->slaves) {

   439

        kfree(master->slaves);

   440

        master->slaves = NULL;

   441

    }

   442

   443

    master->slave_count = 0;

   444

}

   445

   446

/*****************************************************************************/

   447

   448

/** Clear all domains.

   449

 */

   450

void ec_master_clear_domains(ec_master_t *master)

   451

{

   452

    ec_domain_t *domain, *next;

   453

   454

    list_for_each_entry_safe(domain, next, &master->domains, list) {

   455

        list_del(&domain->list);

   456

        ec_domain_clear(domain);

   457

        kfree(domain);

   458

    }

   459

}

   460

   461

/*****************************************************************************/

   462

   463

/** Internal sending callback.

   464

 */

   465

void ec_master_internal_send_cb(

   466

        void *cb_data /**< Callback data. */

   467

        )

   468

{

   469

    ec_master_t *master = (ec_master_t *) cb_data;

   470

    down(&master->io_sem);

   471

    ecrt_master_send_ext(master);

   472

    up(&master->io_sem);

   473

}

   474

   475

/*****************************************************************************/

   476

   477

/** Internal receiving callback.

   478

 */

   479

void ec_master_internal_receive_cb(

   480

        void *cb_data /**< Callback data. */

   481

        )

   482

{

   483

    ec_master_t *master = (ec_master_t *) cb_data;